| """This is a standalone file for create a task in libero."""
|
| import numpy as np
|
|
|
| from libero.libero.utils.bddl_generation_utils import (
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| get_xy_region_kwargs_list_from_regions_info,
|
| )
|
| from libero.libero.utils.mu_utils import register_mu, InitialSceneTemplates
|
| from libero.libero.utils.task_generation_utils import (
|
| register_task_info,
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| get_task_info,
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| generate_bddl_from_task_info,
|
| )
|
|
|
|
|
| @register_mu(scene_type="kitchen")
|
| class KitchenScene1(InitialSceneTemplates):
|
| def __init__(self):
|
|
|
| fixture_num_info = {
|
| "kitchen_table": 1,
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| "wooden_cabinet": 1,
|
| }
|
|
|
| object_num_info = {
|
| "akita_black_bowl": 1,
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| "plate": 1,
|
| }
|
|
|
| super().__init__(
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| workspace_name="kitchen_table",
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| fixture_num_info=fixture_num_info,
|
| object_num_info=object_num_info,
|
| )
|
|
|
| def define_regions(self):
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| self.regions.update(
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| self.get_region_dict(
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| region_centroid_xy=[0.0, -0.30],
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| region_name="wooden_cabinet_init_region",
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| target_name=self.workspace_name,
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| region_half_len=0.01,
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| yaw_rotation=(np.pi, np.pi),
|
| )
|
| )
|
|
|
| self.regions.update(
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| self.get_region_dict(
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| region_centroid_xy=[0.0, 0.0],
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| region_name="akita_black_bowl_init_region",
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| target_name=self.workspace_name,
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| region_half_len=0.025,
|
| )
|
| )
|
|
|
| self.regions.update(
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| self.get_region_dict(
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| region_centroid_xy=[0.0, 0.25],
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| region_name="plate_init_region",
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| target_name=self.workspace_name,
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| region_half_len=0.025,
|
| )
|
| )
|
| self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(
|
| self.regions
|
| )
|
|
|
| @property
|
| def init_states(self):
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| states = [
|
| ("On", "akita_black_bowl_1", "kitchen_table_akita_black_bowl_init_region"),
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| ("On", "plate_1", "kitchen_table_plate_init_region"),
|
| ("On", "wooden_cabinet_1", "kitchen_table_wooden_cabinet_init_region"),
|
| ]
|
| return states
|
|
|
|
|
| def main():
|
|
|
| scene_name = "kitchen_scene1"
|
| language = "Your Language 1"
|
| register_task_info(
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| language,
|
| scene_name=scene_name,
|
| objects_of_interest=["wooden_cabinet_1", "akita_black_bowl_1"],
|
| goal_states=[
|
| ("Open", "wooden_cabinet_1_top_region"),
|
| ("In", "akita_black_bowl_1", "wooden_cabinet_1_top_region"),
|
| ],
|
| )
|
|
|
| scene_name = "kitchen_scene1"
|
| language = "Your Language 2"
|
| register_task_info(
|
| language,
|
| scene_name=scene_name,
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| objects_of_interest=["wooden_cabinet_1", "akita_black_bowl_1"],
|
| goal_states=[
|
| ("Open", "wooden_cabinet_1_top_region"),
|
| ("In", "akita_black_bowl_1", "wooden_cabinet_1_bottom_region"),
|
| ],
|
| )
|
| bddl_file_names, failures = generate_bddl_from_task_info()
|
| print(bddl_file_names)
|
|
|
|
|
| if __name__ == "__main__":
|
| main()
|
|
|
